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Tham khảo tài liệu 'humanoid robots - new developments part 6', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Multicriteria Optimal Humanoid Robot Motion Generation 167 without neglecting the smoothness in the torque change the results shown in Boxes 2 3 are the most important. The results in Box 2 show that by a small increase in the energy consumption 2.2 we can decrease the MTC fitness function by around 12.1 . Also the energy can be reduced by 14.5 for a small increase in the MTC cost function Box 4 . Fig. 7. zw trajectory. Time s Fig. 8. Video capture of robot motion. 168 Humanoid Robots New Developments The torque vector ri and the optimal gaits for different results of Pareto front solutions are shown in Fig. 6. The robot posture is straighter similar to humans for MCE cost function Fig.6 a . Torque value is low for MCE gait and the torques change smoothly for MTC gait Fig. 6 b . The optimal gait generated by Box 3 solutions satisfies both objective functions. The energy consumption is increased by 9 but on the other hand the value of MTC cost function is decreased by 19.2 . The ZMP trajectory is presented in Fig. 7 for humanoid robot gait generated by Box 3 result. The ZMP is always between the dotted lines which present the length of the foot. At the end of the step the ZMP is at the position ZMPf as shown in Fig. 2. At the beginning of the step the ZMP is not exactly at the position ZMPjump because of the foot s mass. It should be noted that the mass of the lower leg is different when it is in supporting leg or swing leg. In order to investigate how the optimized gaits in simulation will perform in real hardware we transferred the optimal gaits that satisfy both objective functions on the Bonten-Maru humanoid robot Fig. 8 . The experimental results show that in addition of reduction in energy consumption the humanoid robot gait generated by Box 3 solutions was stable. The impact of the foot with the ground was small. 6. Conclusion This paper proposed a new method for humanoid robot gait generation based on several objective functions. The proposed method is based
